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AUTOMATIKA: Journal for Control, Measurement, Electronics, Computing and Communications, Vol.50 No.3-4 December 2009.

Original scientific paper

Design and Implementation of Remote Control System for Reactor VesselWeld InspectionManipulator

Ivica Draganjac ; University of Zagreb, Faculty of electrical engineering and computing, Zagreb, Croatia
Alan Mutka ; University of Zagreb, Faculty of electrical engineering and computing, Zagreb, Croatia
Zdenko Kovačić ; University of Zagreb, Faculty of electrical engineering and computing, Zagreb, Croatia
Željko Postružin ; Hrid Ltd, Zagreb, Croatia
Ranko Munk ; Hrid Ltd, Zagreb, Croatia

Fulltext: pdf (1 MB), English, Pages 215 - 226 , downloads: 438 *

Abstracts
In this paper a design and implementation of a remote control system of a manipulator for weld inspection of nuclear reactor vessels are described. Based on the client-server TCP/IP software architecture, the presented control system enables an operator to perform the entire inspection procedure remotely over a network, avoiding exposure to dangerous radiation normally present in nuclear reactor environments. The developed graphical user interface provides tools for planning weld scan trajectories, their verification on a robot and reactor vessel 3D model, and finally, execution of planned trajectories on a remote robot. In addition, the weld inspection process can be monitored in parallel on a virtual robot and reactor vessel model and by watching live video streams captured by
two cameras mounted on the robot.

Keywords
Reactor vessel inspection, Remote control, 3D visualization

[Croatian]

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